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Parallel Kalman Filter Bank Method in Output Estimation for Plants with Zeros
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The Kalman filter is often used with plants without zeros. However, when
the plant has zeros, the Kalman filter tends to neglect the effects of
zeros, leading to errors in output estimation. Without the effects of
zeros, the Kalman filter estimation would lag behind the true output, or
it would lead to true output if the zeros are on the RHP. The parallel
Kalman filter bank, instead of a single filter is proposed to remedy
this problem. Each Kalman filter in the bank operates on a plant
submodel that is obtained by decomposing the plant model. The output
estimations of all of the Kalman filters in the bank are added together
to synthesize the plant output estimation. The method was simulated in a
PID-controlled system where better results have been obtained.
Title: Parallel Kalman Filter Bank Method in Output Estimation for Plants with Zeros
Description:
The Kalman filter is often used with plants without zeros.
However, when
the plant has zeros, the Kalman filter tends to neglect the effects of
zeros, leading to errors in output estimation.
Without the effects of
zeros, the Kalman filter estimation would lag behind the true output, or
it would lead to true output if the zeros are on the RHP.
The parallel
Kalman filter bank, instead of a single filter is proposed to remedy
this problem.
Each Kalman filter in the bank operates on a plant
submodel that is obtained by decomposing the plant model.
The output
estimations of all of the Kalman filters in the bank are added together
to synthesize the plant output estimation.
The method was simulated in a
PID-controlled system where better results have been obtained.
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